Build Environments

Supported Platforms

DART 6.8 supports Ubuntu 32 and 64 bit 16.04 (Xenial), 18.04 (Bionic), 18.10 (Cosmic), and 19.04 (Disco) systems.

Install DART using Ubuntu packages

If you want to use dart as a dependent library for your development, then installing dart using Ubuntu packages is the most convenient way.

Adding Personal Package Archives (PPA’s) for DART and dependencies

sudo apt-add-repository ppa:dartsim/ppa
sudo apt-get update  # not necessary since Bionic

Install DART

  • Install the core library

    sudo apt-get install libdart6-dev
  • Install optional components

    e.g., installing collision-bullet component:

    sudo apt-get install libdart6-collision-bullet-dev
  • Install everything

    sudo apt-get install libdart6-all-dev

Install DART from source

Install Required Dependencies

Make sure you have removed the DART packages:

sudo apt-get remove libdart*

Install required dependencies. A clean Ubuntu system will need:

sudo apt-get install build-essential cmake pkg-config git
sudo apt-get install libeigen3-dev libassimp-dev libccd-dev libfcl-dev libboost-regex-dev libboost-system-dev
sudo apt-get install libopenscenegraph-dev

Install Optional Dependencies

  • NLopt Optimization Support

    • Xenial and Bionic

      sudo apt-get install libnlopt-dev
    • Since Cosmic

      sudo apt-get install libnlopt-cxx-dev
  • IPopt Optimization Support

    sudo apt-get install coinor-libipopt-dev
  • Bullet Collision Detector Support

    sudo apt-get install libbullet-dev
  • ODE Collision Detector Support

    sudo apt-get install libode-dev
  • VoxelGridShape
    sudo apt-get install liboctomap-dev
  • DART Planning Module
    sudo apt-get install libflann-dev
  • DART Parsers: SKEL, URDF, SDF, VSK

    sudo apt-get install libtinyxml2-dev
    sudo apt-get install liburdfdom-dev

    sudo apt-get install libxi-dev libxmu-dev freeglut3-dev
  • OpenSceneGraph GUI

    sudo apt-get install libopenscenegraph-dev

Build and Install DART

  1. Clone the repository into a directory in your home folder:

    git clone git://
  2. Change directory to the DART repository and checkout the latest tag of DART 6, v6.8.2:

    cd dart
    git checkout tags/v6.8.2
  3. Create a build directory:

    mkdir build
    cd build
  4. Configure and build DART:

    cmake ..
    make -j4
  • Build Options

    • DART tests, tutorials, examples

      If you want to build the tests, tutorials, or examples, run follows:

      make -j4 tests
      make -j4 tutorials
      make -j4 examples

      Once you successfully build the tests, you can run all the tests at once as:

      $ make -j4 test  # or cmake -j4

      or run a particular test as:

      $ ./unittests/<category_name>/<test_name>  # e.g., ./unittests/unit/test_Uri

      Also, you can run tutorials and examples as:

      $ ./bin/<executable_name>  # e.g., ./bin/rigidCubes
  • Build Type

    You can specify the build type [ Debug | Release | RelWithDebInfo | Profile ] as:

    cmake .. -DCMAKE_BUILD_TYPE=Debug

    The default build type is Release.

  1. Install DART:

    sudo make install

    If you want to uninstall DART, then:

    sudo make uninstall